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realtimeroboticsgroup.org / RealtimeRoboticsGroup / test / 8313a9e069dcd4d618b96cc709481b5c5d63eced / . / y2023 / y2023_imu.json
blob: 416552b9d080a7a9e86bb67f340e1b5d71983bbf [file] [log] [blame]
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]1{
2 "channels": [
3 {
4 "name": "/imu/aos",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]5 "type": "aos.JoystickState",
6 "source_node": "imu",
7 "frequency": 100,
8 "logger": "LOCAL_AND_REMOTE_LOGGER",
9 "logger_nodes": [
10 "imu"
11 ],
12 "destination_nodes": [
13 {
14 "name": "logger",
15 "priority": 5,
16 "time_to_live": 50000000,
17 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
18 "timestamp_logger_nodes": [
19 "imu"
20 ]
21 },
22 {
23 "name": "pi1",
24 "priority": 5,
25 "time_to_live": 50000000,
26 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
27 "timestamp_logger_nodes": [
28 "imu"
29 ]
30 },
31 {
32 "name": "pi2",
33 "priority": 5,
34 "time_to_live": 50000000,
35 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
36 "timestamp_logger_nodes": [
37 "imu"
38 ]
39 },
40 {
41 "name": "pi3",
42 "priority": 5,
43 "time_to_live": 50000000,
44 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
45 "timestamp_logger_nodes": [
46 "imu"
47 ]
48 },
49 {
50 "name": "pi4",
51 "priority": 5,
52 "time_to_live": 50000000,
53 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
54 "timestamp_logger_nodes": [
55 "imu"
56 ]
57 }
58 ]
59 },
60 {
61 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-JoystickState",
62 "type": "aos.message_bridge.RemoteMessage",
63 "source_node": "imu",
64 "logger": "NOT_LOGGED",
65 "frequency": 300,
66 "num_senders": 2,
67 "max_size": 200
68 },
69 {
70 "name": "/imu/aos/remote_timestamps/pi1/imu/aos/aos-JoystickState",
71 "type": "aos.message_bridge.RemoteMessage",
72 "source_node": "imu",
73 "logger": "NOT_LOGGED",
74 "frequency": 300,
75 "num_senders": 2,
76 "max_size": 200
77 },
78 {
79 "name": "/imu/aos/remote_timestamps/pi2/imu/aos/aos-JoystickState",
80 "type": "aos.message_bridge.RemoteMessage",
81 "source_node": "imu",
82 "logger": "NOT_LOGGED",
83 "frequency": 300,
84 "num_senders": 2,
85 "max_size": 200
86 },
87 {
88 "name": "/imu/aos/remote_timestamps/pi3/imu/aos/aos-JoystickState",
89 "type": "aos.message_bridge.RemoteMessage",
90 "source_node": "imu",
91 "logger": "NOT_LOGGED",
92 "frequency": 300,
93 "num_senders": 2,
94 "max_size": 200
95 },
96 {
97 "name": "/imu/aos/remote_timestamps/pi4/imu/aos/aos-JoystickState",
98 "type": "aos.message_bridge.RemoteMessage",
99 "source_node": "imu",
100 "logger": "NOT_LOGGED",
101 "frequency": 300,
102 "num_senders": 2,
103 "max_size": 200
104 },
105 {
106 "name": "/imu/aos",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]107 "type": "aos.timing.Report",
108 "source_node": "imu",
109 "frequency": 50,
110 "num_senders": 20,
111 "max_size": 4096
112 },
113 {
114 "name": "/imu/aos",
115 "type": "aos.logging.LogMessageFbs",
116 "source_node": "imu",
117 "frequency": 200,
118 "num_senders": 20
119 },
120 {
121 "name": "/imu/aos",
122 "type": "aos.starter.Status",
123 "source_node": "imu",
124 "logger": "LOCAL_AND_REMOTE_LOGGER",
125 "frequency": 50,
126 "num_senders": 20,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]127 "max_size": 2048,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]128 "logger_nodes": [
129 "roborio",
130 "logger"
131 ],
132 "destination_nodes": [
133 {
134 "name": "roborio",
135 "priority": 5,
136 "time_to_live": 5000000,
137 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
138 "timestamp_logger_nodes": [
139 "imu"
140 ]
141 },
142 {
143 "name": "logger",
144 "priority": 5,
145 "time_to_live": 5000000,
146 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
147 "timestamp_logger_nodes": [
148 "imu"
149 ]
150 }
151 ]
152 },
153 {
154 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-Status",
155 "type": "aos.message_bridge.RemoteMessage",
156 "frequency": 100,
157 "source_node": "imu",
158 "max_size": 208
159 },
160 {
161 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-Status",
162 "type": "aos.message_bridge.RemoteMessage",
163 "frequency": 100,
164 "source_node": "imu",
165 "max_size": 208
166 },
167 {
168 "name": "/imu/aos",
169 "type": "aos.starter.StarterRpc",
170 "source_node": "imu",
171 "frequency": 10,
172 "num_senders": 2,
173 "logger": "LOCAL_AND_REMOTE_LOGGER",
174 "logger_nodes": [
175 "roborio",
176 "logger"
177 ],
178 "destination_nodes": [
179 {
180 "name": "roborio",
181 "priority": 5,
182 "time_to_live": 5000000,
183 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
184 "timestamp_logger_nodes": [
185 "imu"
186 ]
187 },
188 {
189 "name": "logger",
190 "priority": 5,
191 "time_to_live": 5000000,
192 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
193 "timestamp_logger_nodes": [
194 "imu"
195 ]
196 }
197 ]
198 },
199 {
200 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-starter-StarterRpc",
201 "type": "aos.message_bridge.RemoteMessage",
202 "frequency": 20,
203 "source_node": "imu",
204 "max_size": 208
205 },
206 {
207 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-starter-StarterRpc",
208 "type": "aos.message_bridge.RemoteMessage",
209 "frequency": 20,
210 "source_node": "imu",
211 "max_size": 208
212 },
213 {
214 "name": "/imu/aos",
215 "type": "aos.message_bridge.ServerStatistics",
216 "source_node": "imu",
217 "frequency": 10,
218 "num_senders": 2
219 },
220 {
221 "name": "/imu/aos",
222 "type": "aos.message_bridge.ClientStatistics",
223 "source_node": "imu",
224 "frequency": 20,
225 "num_senders": 2
226 },
227 {
228 "name": "/imu/aos",
229 "type": "aos.logging.DynamicLogCommand",
230 "source_node": "imu",
231 "frequency": 10,
232 "num_senders": 2
233 },
234 {
235 "name": "/imu/aos",
236 "type": "aos.message_bridge.Timestamp",
237 "source_node": "imu",
238 "frequency": 15,
239 "num_senders": 2,
240 "logger": "LOCAL_AND_REMOTE_LOGGER",
241 "logger_nodes": [
242 "roborio",
243 "logger"
244 ],
245 "max_size": 400,
246 "destination_nodes": [
247 {
248 "name": "roborio",
249 "priority": 1,
250 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
251 "timestamp_logger_nodes": [
252 "imu"
253 ],
254 "time_to_live": 5000000
255 },
256 {
257 "name": "logger",
258 "priority": 1,
259 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
260 "timestamp_logger_nodes": [
261 "imu"
262 ],
263 "time_to_live": 5000000
264 }
265 ]
266 },
267 {
268 "name": "/imu/aos/remote_timestamps/roborio/imu/aos/aos-message_bridge-Timestamp",
269 "type": "aos.message_bridge.RemoteMessage",
270 "frequency": 20,
271 "source_node": "imu",
272 "max_size": 208
273 },
274 {
275 "name": "/imu/aos/remote_timestamps/logger/imu/aos/aos-message_bridge-Timestamp",
276 "type": "aos.message_bridge.RemoteMessage",
277 "frequency": 20,
278 "source_node": "imu",
279 "max_size": 208
280 },
281 {
282 "name": "/logger/aos",
283 "type": "aos.starter.StarterRpc",
284 "source_node": "logger",
285 "logger": "LOCAL_AND_REMOTE_LOGGER",
286 "logger_nodes": [
287 "imu"
288 ],
289 "destination_nodes": [
290 {
291 "name": "imu",
292 "priority": 5,
293 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
294 "timestamp_logger_nodes": [
295 "logger"
296 ],
297 "time_to_live": 5000000
298 }
299 ]
300 },
301 {
302 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-StarterRpc",
303 "type": "aos.message_bridge.RemoteMessage",
304 "source_node": "logger",
305 "logger": "NOT_LOGGED",
306 "frequency": 20,
307 "num_senders": 2,
308 "max_size": 200
309 },
310 {
311 "name": "/logger/aos",
312 "type": "aos.starter.Status",
313 "source_node": "logger",
314 "logger": "LOCAL_AND_REMOTE_LOGGER",
315 "logger_nodes": [
316 "imu"
317 ],
318 "destination_nodes": [
319 {
320 "name": "imu",
321 "priority": 5,
322 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
323 "timestamp_logger_nodes": [
324 "logger"
325 ],
326 "time_to_live": 5000000
327 }
328 ]
329 },
330 {
331 "name": "/logger/aos/remote_timestamps/imu/logger/aos/aos-starter-Status",
332 "type": "aos.message_bridge.RemoteMessage",
333 "source_node": "logger",
334 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]335 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]336 "num_senders": 2,
337 "max_size": 200
338 },
339 {
340 "name": "/roborio/aos",
341 "type": "aos.starter.StarterRpc",
342 "source_node": "roborio",
343 "logger": "LOCAL_AND_REMOTE_LOGGER",
344 "logger_nodes": [
345 "imu"
346 ],
347 "destination_nodes": [
348 {
349 "name": "imu",
350 "priority": 5,
351 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
352 "timestamp_logger_nodes": [
353 "roborio"
354 ],
355 "time_to_live": 5000000
356 }
357 ]
358 },
359 {
360 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-StarterRpc",
361 "type": "aos.message_bridge.RemoteMessage",
362 "source_node": "roborio",
363 "logger": "NOT_LOGGED",
364 "frequency": 20,
365 "num_senders": 2,
366 "max_size": 200
367 },
368 {
369 "name": "/roborio/aos",
370 "type": "aos.starter.Status",
371 "source_node": "roborio",
372 "logger": "LOCAL_AND_REMOTE_LOGGER",
373 "logger_nodes": [
374 "imu"
375 ],
376 "destination_nodes": [
377 {
378 "name": "imu",
379 "priority": 5,
380 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
381 "timestamp_logger_nodes": [
382 "roborio"
383 ],
384 "time_to_live": 5000000
385 }
386 ]
387 },
388 {
389 "name": "/roborio/aos/remote_timestamps/imu/roborio/aos/aos-starter-Status",
390 "type": "aos.message_bridge.RemoteMessage",
391 "source_node": "roborio",
392 "logger": "NOT_LOGGED",
James Kuszmaul839c8aa2023-01-10 15:27:57 -0800[diff] [blame]393 "frequency": 50,
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]394 "num_senders": 2,
395 "max_size": 200
396 },
397 {
398 "name": "/localizer",
399 "type": "frc971.IMUValuesBatch",
400 "source_node": "imu",
401 "frequency": 2200,
402 "max_size": 1600,
403 "num_senders": 2
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]404 },
405 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]406 "name": "/localizer",
407 "type": "y2023.localizer.Status",
408 "source_node": "imu",
409 "frequency": 2200,
milind-ub45c6d92023-03-11 18:56:15 -0800[diff] [blame]410 "max_size": 1504,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]411 "num_senders": 2
412 },
413 {
414 "name": "/localizer",
415 "type": "frc971.controls.LocalizerOutput",
416 "source_node": "imu",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]417 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]418 "logger": "LOCAL_AND_REMOTE_LOGGER",
419 "logger_nodes": [
420 "roborio"
421 ],
422 "destination_nodes": [
423 {
424 "name": "roborio",
425 "priority": 5,
426 "time_to_live": 5000000,
427 "timestamp_logger": "LOCAL_AND_REMOTE_LOGGER",
428 "timestamp_logger_nodes": [
429 "imu"
430 ]
431 }
432 ]
433 },
434 {
435 "name": "/imu/aos/remote_timestamps/roborio/localizer/frc971-controls-LocalizerOutput",
436 "type": "aos.message_bridge.RemoteMessage",
437 "source_node": "imu",
438 "logger": "NOT_LOGGED",
James Kuszmaul456774b2023-03-08 21:29:15 -0800[diff] [blame]439 "frequency": 52,
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]440 "num_senders": 2,
441 "max_size": 200
442 },
443 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]444 "name": "/imu/constants",
445 "type": "y2023.Constants",
446 "source_node": "imu",
447 "frequency": 1,
448 "num_senders": 2,
James Kuszmaul667b0592023-02-25 16:32:59 -0800[diff] [blame]449 "max_size": 65536
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]450 }
451 ],
452 "applications": [
453 {
454 "name": "message_bridge_client",
Austin Schuh9177bc62023-02-12 14:16:45 -0800[diff] [blame]455 "executable_name": "message_bridge_client",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]456 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]457 "nodes": [
458 "imu"
459 ]
460 },
461 {
462 "name": "localizer",
463 "executable_name": "localizer_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]464 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]465 "nodes": [
466 "imu"
467 ]
468 },
469 {
470 "name": "imu",
471 "executable_name": "imu_main",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]472 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]473 "nodes": [
474 "imu"
475 ]
476 },
477 {
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]478 "name": "joystick_republish",
479 "executable_name": "joystick_republish",
480 "user": "pi",
481 "nodes": [
482 "imu"
483 ]
484 },
485 {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]486 "name": "message_bridge_server",
487 "executable_name": "message_bridge_server",
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]488 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]489 "nodes": [
490 "imu"
491 ]
492 },
493 {
494 "name": "localizer_logger",
495 "executable_name": "logger_main",
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]496 "args": [
497 "--logging_folder",
498 "",
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]499 "--snappy_compress",
500 "--rotate_every", "30.0"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]501 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]502 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]503 "nodes": [
504 "imu"
505 ]
506 },
507 {
508 "name": "web_proxy",
509 "executable_name": "web_proxy_main",
Austin Schuh8313a9e2023-03-22 20:22:37 -0700[diff] [blame^]510 "args": [
511 "--min_ice_port=5800",
512 "--max_ice_port=5810"
513 ],
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]514 "user": "pi",
515 "nodes": [
516 "imu"
517 ]
518 },
519 {
James Kuszmaul04a343c2023-02-20 16:38:22 -0800[diff] [blame]520 "name": "foxglove_websocket",
521 "user": "pi",
522 "nodes": [
523 "imu"
524 ]
525 },
526 {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]527 "name": "constants_sender",
528 "autorestart": false,
529 "user": "pi",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]530 "nodes": [
531 "imu"
532 ]
533 }
534 ],
535 "maps": [
536 {
537 "match": {
James Kuszmauld67f6d22023-02-05 17:37:25 -0800[diff] [blame]538 "name": "/constants*",
539 "source_node": "imu"
540 },
541 "rename": {
542 "name": "/imu/constants"
543 }
544 },
545 {
546 "match": {
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]547 "name": "/aos*",
548 "source_node": "imu"
549 },
550 "rename": {
551 "name": "/imu/aos"
552 }
553 }
554 ],
555 "nodes": [
556 {
557 "name": "imu",
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]558 "hostname": "pi6",
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]559 "hostnames": [
Austin Schuhfda8c6f2023-02-22 11:58:50 -0800[diff] [blame]560 "pi-971-6",
561 "pi-7971-6",
562 "pi-8971-6",
563 "pi-9971-6"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]564 ],
565 "port": 9971
566 },
567 {
568 "name": "logger"
569 },
570 {
571 "name": "roborio"
Yash Chainani4b91ff12023-03-14 19:56:07 -0700[diff] [blame]572 },
573 {
574 "name": "pi1"
575 },
576 {
577 "name": "pi2"
578 },
579 {
580 "name": "pi3"
581 },
582 {
583 "name": "pi4"
Austin Schuh9f164e92022-12-29 16:15:28 -0800[diff] [blame]584 }
585 ]
Austin Schuhc56855b2023-03-22 20:21:53 -0700[diff] [blame]586}